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Added local position pub to att_pos_esitmator_ekf

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This commit is contained in:
James Goppert
2013-11-14 15:23:39 -05:00
parent ba3681d3a0
commit 5c66899bfb
2 changed files with 56 additions and 24 deletions
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src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+51 -18
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@@ -41,6 +41,7 @@
#include "KalmanNav.hpp"
#include <systemlib/err.h>
#include <geo/geo.h>
// constants
// Titterton pg. 52
@@ -67,15 +68,13 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
// attitude representations
C_nb(),
q(),
_accel_sub(-1),
_gyro_sub(-1),
_mag_sub(-1),
// subscriptions
_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
// publications
_pos(&getPublications(), ORB_ID(vehicle_global_position)),
_localPos(&getPublications(), ORB_ID(vehicle_local_position)),
_att(&getPublications(), ORB_ID(vehicle_attitude)),
// timestamps
_pubTimeStamp(hrt_absolute_time()),
@@ -92,6 +91,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
phi(0), theta(0), psi(0),
vN(0), vE(0), vD(0),
lat(0), lon(0), alt(0),
lat0(0), lon0(0), alt0(0),
// parameters for ground station
_vGyro(this, "V_GYRO"),
_vAccel(this, "V_ACCEL"),
@@ -127,19 +127,15 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
lon = 0.0f;
alt = 0.0f;
// gyro, accel and mag subscriptions
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
struct accel_report accel;
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel);
struct mag_report mag;
orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag);
// initialize rotation quaternion with a single raw sensor measurement
q = init(accel.x, accel.y, accel.z, mag.x, mag.y, mag.z);
_sensors.update();
q = init(
_sensors.accelerometer_m_s2[0],
_sensors.accelerometer_m_s2[1],
_sensors.accelerometer_m_s2[2],
_sensors.magnetometer_ga[0],
_sensors.magnetometer_ga[1],
_sensors.magnetometer_ga[2]);
// initialize dcm
C_nb = Dcm(q);
@@ -252,11 +248,21 @@ void KalmanNav::update()
setLatDegE7(_gps.lat);
setLonDegE7(_gps.lon);
setAltE3(_gps.alt);
// set reference position for
// local position
lat0 = lat;
lon0 = lon;
alt0 = alt;
// XXX map_projection has internal global
// states that multiple things could change,
// should make map_projection take reference
// lat/lon and not have init
map_projection_init(lat0, lon0);
_positionInitialized = true;
warnx("initialized EKF state with GPS\n");
warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
double(vN), double(vE), double(vD),
lat, lon, alt);
lat, lon, double(alt));
}
// prediction step
@@ -311,7 +317,7 @@ void KalmanNav::updatePublications()
{
using namespace math;
// position publication
// global position publication
_pos.timestamp = _pubTimeStamp;
_pos.time_gps_usec = _gps.timestamp_position;
_pos.valid = true;
@@ -324,6 +330,31 @@ void KalmanNav::updatePublications()
_pos.vz = vD;
_pos.yaw = psi;
// local position publication
float x;
float y;
bool landed = alt < (alt0 + 0.1); // XXX improve?
map_projection_project(lat, lon, &x, &y);
_localPos.timestamp = _pubTimeStamp;
_localPos.xy_valid = true;
_localPos.z_valid = true;
_localPos.v_xy_valid = true;
_localPos.v_z_valid = true;
_localPos.x = x;
_localPos.y = y;
_localPos.z = alt0 - alt;
_localPos.vx = vN;
_localPos.vy = vE;
_localPos.vz = vD;
_localPos.yaw = psi;
_localPos.xy_global = true;
_localPos.z_global = true;
_localPos.ref_timestamp = _pubTimeStamp;
_localPos.ref_lat = getLatDegE7();
_localPos.ref_lon = getLonDegE7();
_localPos.ref_alt = 0;
_localPos.landed = landed;
// attitude publication
_att.timestamp = _pubTimeStamp;
_att.roll = phi;
@@ -347,8 +378,10 @@ void KalmanNav::updatePublications()
// selectively update publications,
// do NOT call superblock do-all method
if (_positionInitialized)
if (_positionInitialized) {
_pos.update();
_localPos.update();
}
if (_attitudeInitialized)
_att.update();